【摘要】 在环境风、浪的作用下，船舶在泊船过程中的运动姿态会发生显著变化，导致遭遇角出现偏差，从而无法按预期调整航向，进而降低泊船过程的安全性。因此，提出基于运动姿态数据挖掘的泊船遭遇角控制方法。利用FP-growth算法挖掘出运动姿态与遭遇角控制间的关联关系。通过RBF神经网络构建泊船系统函数，由此使用Nomoto传递函数描述船舶航向响应特性，并将其输入至三阶闭环增益成形算法中，通过增益成形实时调整船舶运动状态，抑制外部环境干扰造成的遭遇角偏差，实现泊船遭遇角的精准控制。结果表明，所提方法各个时刻遭遇角控制结果与实际期望控制值高度吻合，可以稳定船舶的运动姿态，保证泊船过程的安全性。更多还原

【Abstract】 Under the influence of environmental wind and waves, the motion posture of the ship during berthing will undergo significant changes, resulting in deviation of the encounter angle and inability to adjust the heading as expected,thereby reducing the safety of the berthing process. Therefore, a ship encounter angle control method based on motion attitude data mining is proposed. Use the FP growth algorithm to mine the correlation between motion posture and encounter angle control. Based on the obtained correlation, a berthing system function is constructed using an RBF neural network. The ship heading response characteristics are described using the Nomoto transfer function, which is then input into a third-order closed-loop gain shaping algorithm. Through gain shaping, the ship’s motion state is adjusted in real time to suppress the encounter angle deviation caused by external environmental interference and achieve precise control of the berthing encounter angle. The experimental results show that the proposed method’s encounter angle control results at each moment are highly consistent with the actual expected control values, which can stabilize the ship’s motion posture and ensure the safety of the berthing process.更多还原